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AC_PosControl_Sub: replace velocity pi with local pid

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Randy Mackay 2017-11-20 15:58:25 +09:00
parent 3a73ff1e2e
commit 00037fd50e
2 changed files with 3 additions and 3 deletions
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4
libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
View File

@ -3,8 +3,8 @@
AC_PosControl_Sub::AC_PosControl_Sub(const AP_AHRS_View& ahrs, const AP_InertialNav& inav, AC_PosControl_Sub::AC_PosControl_Sub(const AP_AHRS_View& ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control, const AP_Motors& motors, AC_AttitudeControl& attitude_control,
AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z, AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z,
AC_P& p_pos_xy, AC_PI_2D& pi_vel_xy) : AC_P& p_pos_xy) :
AC_PosControl(ahrs, inav, motors, attitude_control, p_pos_z, p_vel_z, pid_accel_z, p_pos_xy, pi_vel_xy), AC_PosControl(ahrs, inav, motors, attitude_control, p_pos_z, p_vel_z, pid_accel_z, p_pos_xy),
_alt_max(0.0f), _alt_max(0.0f),
_alt_min(0.0f) _alt_min(0.0f)
{} {}

2
libraries/AC_AttitudeControl/AC_PosControl_Sub.h
View File

@ -7,7 +7,7 @@ public:
AC_PosControl_Sub(const AP_AHRS_View & ahrs, const AP_InertialNav& inav, AC_PosControl_Sub(const AP_AHRS_View & ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control, const AP_Motors& motors, AC_AttitudeControl& attitude_control,
AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z, AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z,
AC_P& p_pos_xy, AC_PI_2D& pi_vel_xy); AC_P& p_pos_xy);
/// set_alt_max - sets maximum altitude above the ekf origin in cm /// set_alt_max - sets maximum altitude above the ekf origin in cm
/// only enforced when set_alt_target_from_climb_rate is used /// only enforced when set_alt_target_from_climb_rate is used